Linear controllers are widely adopted control algorithms, primarily due to their analytical properties and stability guarantees. They have rich theoretical and methodological literature and have recently shown great promise in real-life applications, specifically on ACC/CACC systems [1]}, [2]}, [3]}, [4]}, [5]}. While various linear control systems exist in the literature, their underlying control strategy is relatively consistent. In this paper, we focus mainly on robust linear controllers that incorporate vehicular dynamics. Specifically, we focus on the state-of-the-art controller developed by [6]} for demonstration purposes. It provides mathematical formulations of local/string stability requirements while incorporating vehicular dynamics and communication delays. Note that the overall methodology developed in the present paper is primarily data-driven (as will be shown in Sec.) and thus can be adapted to different control paradigms (e.g., MPC).
